CN110493744A - A kind of synchronous data sampling method and system of master-slave radio sensor - Google Patents
A kind of synchronous data sampling method and system of master-slave radio sensor Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
- H04W56/0015—Synchronization between nodes one node acting as a reference for the others
Abstract
The present invention relates to a kind of synchronous data sampling method and systems of master-slave radio sensor, belong to equipment failure state monitoring field, wherein master reference is responsible for sending synchronization signal, it is responsible for being communicated with the primary processor of master reference and secondary sensor from the auxiliary processor of sensor, when by respectively receiving synchronization signal from the physical layer of the auxiliary processor of sensor, physical layer parses the frame head of synchronization signal, and interrupt signal is sent to primary processor according to the frame head, interrupt signal starts synchronous acquisition to each primary processor based on the received.Compared with the existing technology, synchronization signal from sensor is sent to by master reference, it need not be by physical layer transmission to application layer, but interrupt signal directly is issued after physical layer is handled, each primary processor is set to start synchronous acquisition, random cumulative errors are very small, can guarantee synchronous at the time of each primary processor starts to acquire data, raising synchronization accuracy.
Description
Technical field
The invention belongs to equipment failure states to monitor field, and in particular to a kind of data of master-slave radio sensor are synchronous
Acquisition method and system.
Background technique
With the continuous development of fault diagnosis technology, wireless sensor network is more and more applied to the malfunction of equipment
In monitoring.It when carrying out fault diagnosis to equipment, generally requires multiple sensors and carries out synchronous data sampling, to meet more sensings
The requirement of device information fusion.Wireless sensor network as shown in Figure 1, including a master reference and n from sensor, at this stage
For the time synchronization problem of the wireless sensor network, the time calibration to each sensor internal nodal clock is often used,
The synchronization clock synchronization of multiple sensors is completed in a manner of clock synchronization agreement, network is from physical layer to application layer, then analytic compensation, complete
At synchronous data sampling.Its complicated network hierarchical structure keeps random cumulative errors larger, such as uses IEEE1588 clock synchronization agreement,
Its clock synchronization accuracy considers that for CPU mostly based on low-power consumption MCU, dominant frequency is also lower in wireless sensor, at that time in us rank
Clock synchronization accuracy can be reduced further.Therefore, the clock synchronizing method clock synchronization error of the prior art is larger, and synchronization accuracy cannot
Meet application requirement.
Summary of the invention
The object of the present invention is to provide a kind of synchronous data sampling method and systems of master-slave radio sensor, for solving
Certainly the prior art completes the problem that the synchronous precision of clock is low, causes synchronous acquisition error big using clock synchronization agreement.
Based on above-mentioned purpose, a kind of technical solution of the synchronous data sampling method of master-slave radio sensor is as follows:
Master reference respectively and is respectively communicated to connect from sensor, includes respectively primary processor and auxiliary processor from sensor,
Method includes the following steps:
Master reference includes that master reference is sent out in the synchronization signal to respectively synchronization signal is sent from the auxiliary processor of sensor
Send temporal information when synchronization signal；
When respectively receiving the synchronization signal from the physical layer in the auxiliary processor of sensor, physical layer parses synchronous letter
Number frame head, and according to the frame head to primary processor send interrupt signal；Interrupt signal carries out each primary processor based on the received
Synchronous acquisition.
Based on above-mentioned purpose, a kind of technical solution of the synchronous data sampling system of master-slave radio sensor is as follows:
Master reference respectively and is respectively communicated to connect from sensor, includes respectively primary processor and auxiliary processor from sensor,
Wherein, master reference is used for respectively synchronization signal is sent from the auxiliary processor of sensor, includes master reference in the synchronization signal
Send temporal information when synchronization signal；
When for respectively receiving the synchronization signal from the physical layer in sensor, auxiliary processor, physical layer is parsed
The frame head of synchronization signal, and interrupt signal is sent to primary processor according to the frame head；Each primary processor interrupts letter based on the received
Number synchronize acquisition.
The beneficial effect of above-mentioned two technical solution is:
In synchronous data sampling method and system of the invention, master reference is responsible for sending synchronization signal, from sensor
Auxiliary processor is responsible for being communicated with master reference and primary processor, by respectively receiving from the physical layer of the auxiliary processor of sensor
When to synchronization signal, physical layer parses the frame head of synchronization signal, and sends interrupt signal to primary processor according to the frame head, respectively
Interrupt signal starts synchronous acquisition to primary processor based on the received.Compared with the existing technology, it is sent to by master reference from sensing
The synchronization signal of device, it is not necessary to by physical layer transmission to application layer, but interrupt signal directly is issued after physical layer is handled,
Each primary processor is set to start synchronous acquisition, random cumulative errors are very small, can guarantee that each primary processor starts to acquire data
Timing synchronization improves synchronization accuracy.
Specifically, the frame head includes that symbol is defined in frame starting, which originates mode bit output pin and the master for defining symbol
The external interrupt pin of processor connects, for defining interrupt signal described in the state output of symbol according to frame starting.
In order to guarantee the synchronization in data acquisition, before synchronous acquisition starts, master reference continuously transmits synchronization
Information respectively calculates the time deviation as caused by the crystal oscillator of sensor from the primary processor of sensor, and according to the time deviation
Sample frequency during synchronized sampling is modified.The present invention guarantee data acquisition start time synchronous foundation on,
It in turn ensures the synchronization in data acquisition, further improves synchronization accuracy.
Specifically, the calculation formula of the time deviation is as follows:
Δ d=Δ ti- Δ t
In formula, Δ d is the time deviation, and Δ ti is two for receiving master reference from the primary processor of sensor and sending
After adjacent sync information, the time difference of two adjacent sync information is calculated, Δ t is that master reference sends two neighboring synchronous letter
Number the time difference.
Detailed description of the invention
Fig. 1 is wireless sensor network schematic diagram in the prior art；
Fig. 2 is the synchronous data sampling system schematic of master-slave radio sensor of the invention；
Fig. 3 is synchronous data sampling method flow diagram of the invention；
Fig. 4 is that master reference of the invention realizes integer-period sampled method flow diagram；
Fig. 5 is of the invention on the basis of master reference, each clocking error schematic diagram from sensor；
Fig. 6 is sample frequency accumulated error schematic diagram of the present invention when compensating without crystal oscillator；
Fig. 7 is the sample frequency accumulated error schematic diagram after the present invention is compensated using counter.
Specific embodiment
A specific embodiment of the invention is further described with reference to the accompanying drawing.
System embodiment:
A kind of synchronous data sampling system of master-slave radio sensor as shown in Figure 2, including a master reference, and
N from sensor, respectively from sensor 1, from sensor 2 ..., from sensor n, be each respectively provided with there are two from from sensor
Manage device, respectively primary processor and auxiliary processor respectively correspond as host CPU and secondary CPU, pass through UART between host CPU and secondary CPU
Interface exchanges data.
For respectively from the communication protocol frame structure of sensor, mainly by physical layer frame (PHY frame), media access control layer frame
The composition such as (mac frame), network layer frames (NWK frame), application support layer frame (APS frame).Frame structure in being used for transmission is main
It is made of beacon frame, data frame, acknowledgement frame/acknowledgement frame, MAC command frame etc..
Based on above-mentioned data synchronous system, the synchronous data sampling method realized is as follows:
Synchronous data sampling process as shown in Figure 3, master reference is in the form of radio broadcasting to respectively from the secondary CPU of sensor
It sends synchronization signal (lock-out pulse, the frame structure of transmission are beacon frame), includes respectively from the host CPU of sensor in the synchronization signal
Sample frequency and master reference send synchronization signal when temporal information.Master reference is in the form of radio wave to each
It is a to send broadcast singal from sensor, within the scope of 200 meters, it is believed that radio wave reaches each is from the time of sensor
Equal.
For from sensor, the synchronization signal of broadcast is respectively initially received from the physical layer of the secondary CPU of sensor, from biography
Beacon frame in the physical layer of sensor constitutes physical layer protocol data unit, and synchronizing frame head (SHR) includes that frame starting is defined
SFD is accorded with, frame starting is defined to external interrupt pin (I/O interrupt pin) the direct phase of mode bit output pin with host CPU of symbol
Even, for sending interrupt signal, i.e. root to host CPU according to the synchronization signal when the physical layer of secondary CPU receives synchronization signal
The state output interrupt signal of symbol is defined according to frame starting, each time that interrupt signal is issued from the secondary CPU of sensor is synchronous
, start to provide accurate time reference for synchronous acquisition.
Each host CPU is using received interrupt signal as the time reference of triggering collection, after host CPU receives interrupt signal, into
Enter interrupt service routine, sample clock generator is set, exports sampling clock, triggering AD conversion work, data acquisition.
Synchronous data sampling system and method for the invention, when master reference sends synchronization signal to from sensor, no
It directly must directly be carried out by the physical layer protocol data unit of processor by the physical layer transmission of processor to application layer
Reason, random cumulative errors are very small, can guarantee synchronous at the time of each primary processor starts to acquire data, raising synchronization accuracy.
It is synchronized below using the data that the wireless sensor network of equipment fault diagnosis is specifically described the present embodiment as application example
Acquisition system and method:
Firstly, building the wireless sensor network for intellectual monitoring, the communication pattern of wireless sensor network is master slave mode,
Topological structure is Star Network,
Based on wireless sensor network, master reference as shown in Figure 4 (for key phase) obtains two phases of key signal
Count value between adjacent failing edge calculates tachometer value, and according to tachometer value, the swing circle of a machine is carried out N equal part, if
Determine sample frequency, meet integer-period sampled requirement, then, master reference is synchronized in the form broadcasted to respectively sending from sensor
Pulse, including sampling frequency parameters and sampling start signal.
It is respectively the acquisition node for possessing CPU structure from sensor, wherein host CPU is responsible for data acquisition, information processing etc. times
Business, secondary CPU are mainly responsible for data communication task.
After the beacon that sensor secondary CPU receives master reference broadcast singal, IO pulse signal is exported, directly to host CPU
One interrupt signal；Ignore all protocol layers, after host CPU receives interruption, triggering sampling, the time of triggering sampling is immediately
It triggers or is triggered after waiting certain count value jointly.
After the completion of data acquisition, sampling time information is given to sampled data.The sampling time information are as follows: if triggering is adopted
Sample is to sample immediately, then the trigger collection time is the temporal information of the lock-out pulse from master reference, if triggering sampling
Sampled after a certain period of time to wait jointly, then the trigger collection time be lock-out pulse in temporal information plus wait when
Between.
Ready sampling data transmitting is sent to secondary CPU from the host CPU of sensor, secondary CPU passes through sampled data wireless
Mode be transferred to master reference, master reference by respectively from the sampling data transmitting of sensor to fault analysis and handling device, by therefore
Hinder accident analysis and diagnosis that analysis processor carries out equipment.
Above equipment fault diagnosis it is each consistent from the retention time at moment is not needed between sensor, it is only necessary to executing
Acquisition tasks preamble clock is kept for the start trigger moment of acquisition simultaneously；It is risen so receiving frame in sensor physics layer
Beginning define accord with trigger interruption, and interrupt response read count value delay time can within 12 clock cycle, with
For the cpu clock of 200MHz, time interval 60ns, each sampling triggering moment difference between sensor can be in 60ns
Within, therefore acquisition node starts the preceding interrupt signal by defining symbol generation in the starting of physical layer detection frame of acquisition, can provide
More accurate synchronization signal.
Due to different from the respective clock of sensor, cause respectively to carry out the frequency of data acquisition not fully one from sensor
It causes, each sensor is acquired with (N number of data point) data that identical sample frequency completes one section of sampling length, i.e. sampling process
Middle synchronization, further comprising the steps of:
As shown in figure 5, master reference continuously transmits broadcast singal, continuous two neighbouring broadcasts letter before sampling starts
Number time difference sent is set by master reference, it is assumed that the time difference between sending twice is Δ t, i.e. symbol is defined in two frames starting
Between the reference standard time difference be Δ t.It is each that the external interrupt that symbol triggering is defined by frame starting is received from the host CPU of sensor
Afterwards, by reading the count value of counter, by the difference of counter twice in succession, multiplied by between the gate time of counter
Every, as measure counter the counting period, be denoted as Δ ti, then have:
Δ d=Δ ti- Δ t
Wherein, Δ d is the time deviation that i-th of sensor is introduced due to Crystal Oscillator Errors.
The output of sample frequency is exported by the PWM of counter controls, is counted A data and is exported a sampling pulse, root
There is a fixed sample frequency according to the count value A of setting, but since the crystal oscillator between each sensor has small deviation,
It will lead to same count value A, the actual samples frequency of different sensors PWM output has difference, as shown in fig. 6, from sensing
The count value of device setting counter is the sample frequency that A is obtained, from sample frequency accumulated error of the sensor i after N number of period
For N* Δ eti, need to compensate.
Therefore on the basis of A, in addition the meter for needing to compensate inside the sampling interval calculated by time deviation Δ d
Several several A (Δ d), therefore the counter of i-th of sample frequency generated from sensor is set as A+A (Δ d) such as schemes
Shown in 7, to guarantee each consistent from the sample frequency of sensor reality output, each sensor pair during continuous sampling
It is synchronous between should putting.
The present invention guarantees to sample the synchronization of start time by interrupting quick response on hardware, reduces and pass through existing skill
Complicated network hierarchical structure bring accumulated error influences when art realizes synchronous；When without allowing between each sensor on the time
When it is consistent, but when needing to synchronize acquisition, acquire the data between multisensor and trigger, synchronous acquisition simultaneously, it is logical
The quick response of hardware interrupts is crossed, the influence of the communication gradation structure of prior art clock synchronization process is reduced, mentions compared with the prior art
The high synchronization accuracy of data acquisitions.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.For example, in order to make respectively to keep from the sample frequency of the host CPU of sensor
Unanimously, the synchronization signal comprising it is sent by master reference in the present embodiment, it will be respectively from the sample frequency of the host CPU of sensor
It is sent to respectively from sensor；As other embodiments, can also respectively be protected from the sample frequency of the host CPU of sensor by default
It holds consistent.
For another example, the primary processor of the slave sensor in the present embodiment and auxiliary processor are using CPU, as other implementations
Microprocessor, such as ARM also can be used in mode, can also be programmable chip, such as FPGA, DSP.
Embodiment of the method:
The present embodiment provides a kind of synchronous data sampling method of master-slave radio sensor, master reference is used for wireless
The forms of broadcasting include that master reference sends synchronous letter in the synchronization signal to respectively synchronization signal is sent from the auxiliary processor of sensor
Number when temporal information.
For respectively from sensor, when the physical layer of auxiliary processor receives synchronization signal, physical layer parses synchronous letter
Number frame head, and according to the frame head to primary processor send interrupt signal；Interrupt signal carries out each primary processor based on the received
Synchronous acquisition.
Since sufficiently clear is complete in system embodiment for the introduction of the above method, thus the present embodiment no longer in detail into
Row description.
Claims (8)
1. a kind of synchronous data sampling method of master-slave radio sensor, which is characterized in that master reference is respectively and respectively from biography
Sensor communication connection includes respectively primary processor and auxiliary processor from sensor, method includes the following steps:
Master reference includes that master reference is sent together in the synchronization signal to respectively synchronization signal is sent from the auxiliary processor of sensor
Walk temporal information when signal；
When respectively receiving the synchronization signal from the physical layer in the auxiliary processor of sensor, physical layer parses synchronization signal
Frame head, and interrupt signal is sent to primary processor according to the frame head；Interrupt signal synchronizes each primary processor based on the received
Acquisition.
2. the synchronous data sampling method of master-slave radio sensor according to claim 1, which is characterized in that the frame
Head includes that symbol is defined in frame starting, and the external interrupt pin of mode bit output pin and primary processor that symbol is defined in frame starting connects
It connects, for defining interrupt signal described in the state output of symbol according to frame starting.
3. the synchronous data sampling method of master-slave radio sensor according to claim 2, which is characterized in that in synchronization
Before acquisition starts, master reference continuously transmits synchronizing information, and the crystal oscillator due to sensor is respectively calculated from the primary processor of sensor
Caused time deviation, and the sample frequency during synchronized sampling is modified according to the time deviation.
4. the synchronous data sampling method of master-slave radio sensor according to claim 3, which is characterized in that when described
Between deviation calculation formula it is as follows:
Δ d=Δ ti- Δ t
In formula, Δ d be the time deviation, Δ ti be from the primary processor of sensor receive master reference send two it is adjacent
After synchronizing information, the time difference of two adjacent sync information is calculated, Δ t is that master reference sends two neighboring synchronization signal
The time difference.
5. a kind of synchronous data sampling system of master-slave radio sensor, which is characterized in that master reference is respectively and respectively from biography
Sensor communication connection, includes respectively primary processor and auxiliary processor from sensor, wherein master reference is used for respectively from sensor
Auxiliary processor send synchronization signal, include temporal information when master reference sends synchronization signal in the synchronization signal；
When for respectively receiving the synchronization signal from the physical layer in sensor, auxiliary processor, physical layer parses synchronization
The frame head of signal, and interrupt signal is sent to primary processor according to the frame head；Each primary processor based on the received interrupt signal into
Row synchronous acquisition.
6. the synchronous data sampling system of master-slave radio sensor according to claim 5, which is characterized in that the frame
Head includes that symbol is defined in frame starting, and the external interrupt pin of mode bit output pin and primary processor that symbol is defined in frame starting connects
It connects, for defining interrupt signal described in the state output of symbol according to frame starting.
7. the synchronous data sampling system of master-slave radio sensor according to claim 6, which is characterized in that in synchronization
Before acquisition starts, master reference continuously transmits synchronizing information, and the crystal oscillator due to sensor is respectively calculated from the primary processor of sensor
Caused time deviation, and the sample frequency during synchronized sampling is modified according to the time deviation.
8. the synchronous data sampling system of master-slave radio sensor according to claim 7, which is characterized in that when described
Between deviation calculation formula it is as follows:
Δ d=Δ ti- Δ t
In formula, Δ d be the time deviation, Δ ti be from the primary processor of sensor receive master reference send two it is adjacent
After synchronizing information, the time difference of two adjacent sync information is calculated, Δ t is that master reference sends two neighboring synchronization signal
The time difference.
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| CN110954312A (en) * | 2020-02-19 | 2020-04-03 | 北京化工大学 | Reciprocating mechanical fault diagnosis method based on keyless phase whole-cycle signal |
| CN111147690A (en) * | 2019-12-24 | 2020-05-12 | 浙江未来技术研究院(嘉兴) | Frame synchronization device and method for multi-image sensor camera |
| CN111682918A (en) * | 2020-06-10 | 2020-09-18 | 杭州海康威视数字技术股份有限公司 | Synchronous control method, device and system of sensor and storage medium |
| CN111787606A (en) * | 2020-06-12 | 2020-10-16 | 锐盟(深圳)医疗科技有限公司 | Body area network sensor synchronization method and system and wearable biosensor device |
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| CN114500616A (en) * | 2020-10-27 | 2022-05-13 | 南京大学 | Wireless distributed synchronous electrocardio real-time monitoring system |
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| CN111147690A (en) * | 2019-12-24 | 2020-05-12 | 浙江未来技术研究院(嘉兴) | Frame synchronization device and method for multi-image sensor camera |
| CN110954312A (en) * | 2020-02-19 | 2020-04-03 | 北京化工大学 | Reciprocating mechanical fault diagnosis method based on keyless phase whole-cycle signal |
| CN110954312B (en) * | 2020-02-19 | 2020-11-20 | 北京化工大学 | Reciprocating mechanical fault diagnosis method based on keyless phase whole-cycle signal |
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| CN111682918A (en) * | 2020-06-10 | 2020-09-18 | 杭州海康威视数字技术股份有限公司 | Synchronous control method, device and system of sensor and storage medium |
| CN111682918B (en) * | 2020-06-10 | 2022-06-10 | 杭州海康威视数字技术股份有限公司 | Synchronous control method, device and system of sensor and storage medium |
| CN111787606A (en) * | 2020-06-12 | 2020-10-16 | 锐盟(深圳)医疗科技有限公司 | Body area network sensor synchronization method and system and wearable biosensor device |
| CN111787606B (en) * | 2020-06-12 | 2024-03-15 | 锐盟(深圳)医疗科技有限公司 | Body area network sensor synchronization method, body area network sensor synchronization system and wearable biosensor equipment |
| CN112067031A (en) * | 2020-08-11 | 2020-12-11 | 华人运通(江苏)技术有限公司 | Gear signal checking method and device of automobile gear shifter, storage medium and system |
| CN114500616A (en) * | 2020-10-27 | 2022-05-13 | 南京大学 | Wireless distributed synchronous electrocardio real-time monitoring system |
| CN114760319A (en) * | 2020-12-28 | 2022-07-15 | 武汉联影智融医疗科技有限公司 | HBC data synchronization method, computer equipment and storage medium |
| CN114760319B (en) * | 2020-12-28 | 2023-05-30 | 武汉联影智融医疗科技有限公司 | HBC data synchronization method, computer device and storage medium |
| CN113613124A (en) * | 2021-04-26 | 2021-11-05 | 珠海市杰理科技股份有限公司 | TWS master and slave device, audio device and system |
| CN114630402A (en) * | 2021-11-23 | 2022-06-14 | 杭州安脉盛智能技术有限公司 | Wireless sensor data synchronous acquisition system and method |
| WO2024022019A1 (en) * | 2022-07-29 | 2024-02-01 | 郑州恩普特科技股份有限公司 | Sampling control method of multi-module data collector, and multi-module data collector |
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